CN215202040U - Robot automatic sorting system and tongs - Google Patents
Robot automatic sorting system and tongs Download PDFInfo
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- CN215202040U CN215202040U CN202121586716.6U CN202121586716U CN215202040U CN 215202040 U CN215202040 U CN 215202040U CN 202121586716 U CN202121586716 U CN 202121586716U CN 215202040 U CN215202040 U CN 215202040U
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Abstract
The utility model relates to an automatic change machinery, especially, relate to robot automatic sorting system and tongs. The gripper comprises a connecting frame (411), wherein the connecting frame (411) can be connected with a six-axis industrial robot (3); a connecting back plate (413) is arranged on the connecting frame (411), and the connecting back plate (413) is fixedly connected with a bottom mounting plate (4008) vertical to the connecting back plate; the subsequent protocol is any one of the following: a first aspect of the hand grip or a second aspect of the hand grip. Has the advantages that: degree of automation is high, automatic identification information, and control system realizes six industrial robot sorts according to material information, and degree of automation is high, uses manpower sparingly.
Description
Technical Field
The utility model relates to an automatic change machinery, especially, relate to robot automatic sorting system and tongs.
Background
With the continuous increase of labor cost, the labor cost of enterprises is continuously increased, the automation requirement of the door and window industry is more and more strong at present, automatic processing begins to appear, industrial automation and machinery are combined to realize higher automatic processing, the wide application of industrial robots is not different from the development of other industries, the special machines of the door and window industry are more at present, and the trend gradually steps towards the automatic production.
At present, automatic processing can be realized at home, but the production efficiency is low, the automation degree is not high, the use is not flexible, and the scheme is specially designed for providing the processing quality and efficiency, reducing the labor and improving the automation and the intellectualization.
SUMMERY OF THE UTILITY MODEL
The purpose of the utility model is that: specific objects are seen in the several substantial technical effects of the detailed description, in order to provide a more effective robotic automated sorting system and method and gripper.
In order to achieve the purpose, the utility model adopts the following technical proposal:
the first scheme is as follows:
the robot automatic sorting gripper is characterized by comprising a connecting frame 411, wherein the connecting frame 411 can be connected with a six-axis industrial robot 3; a connecting back plate 413 is arranged on the connecting frame 411, and the connecting back plate 413 is fixedly connected with a bottom mounting plate 4008 vertical to the connecting back plate; the subsequent protocol is any one of the following:
the first scheme of the gripper comprises the following steps: a plurality of rollers 4005 are arranged on the bottom mounting plate 4008, a plurality of side pressing and positioning cylinders 403 are arranged on the connecting back plate 413, the cylinder shaft ends of the side pressing and positioning cylinders 403 comprise side pressing wheels 404, and when the profile comprises edges, the pressing wheels 404 can press the edges of the profile; the material trolley lifting device further comprises a pressing belt assembly, the pressing belt assembly comprises a pressing belt mounting plate which can move up and down along a track arranged on the connecting back plate 413, a lifting profile workpiece trolley support 4001 is arranged above the pressing belt mounting plate, the lifting profile workpiece trolley support 4001 can be driven by a cylinder arranged on the connecting back plate 413 to lift, and a belt system 4002 and a belt system power part 4003 capable of providing power for the belt system are arranged on the pressing belt mounting plate; when the pressing belt mounting plate moves downwards, the belt surface of the belt system 4002 can contact the profile 402, and when the belt system 4002 is started, the belt surface can drive the profile 402 to move left and right, and the profile 402 is clamped between the belt surface and the roller 4005, can be clamped and can also be moved;
the second proposal of the gripper is as follows: a plurality of fixed support rods 4103 are arranged on the bottom mounting plate 4008, a plurality of side pressing and positioning cylinders 403 are arranged on the connecting back plate 413, side pressing wheels 404 are arranged at the cylinder shaft ends of the side pressing and positioning cylinders 403, and when the profile comprises edges, the pressing wheels 404 can press the edges of the profile; and the device also comprises an extrusion cylinder 4101 arranged on the connecting back plate, an extrusion plate 4102 arranged at the end part of the cylinder shaft of the extrusion cylinder 4101, and the extrusion plate 4102 can press the section bar 402 to realize clamping when moving downwards.
The utility model discloses a further technical scheme lies in, installs workpiece sensor 408 on the bottom mounting panel 4008 in tongs first scheme and the tongs second scheme, and workpiece sensor 408 can survey the position of section bar.
The utility model discloses a further technical scheme lies in, is fixed with side promotion cylinder 4105 on the connection backplate 413 in tongs first scheme and the tongs second scheme, and the side promotes structure 4104 is being connected to the cylinder axle that side promotion cylinder 4105 stretches out, and the side promotes structure 4104 and can push away the section bar from the tongs.
1. The utility model has the further technical scheme that two sides of the connecting back plate 413 in the first proposal of the gripper and the second proposal of the gripper comprise fixed blocks 412, a rotating articulated shaft 410 passes through the two fixed blocks 412, and the rotating articulated shaft 410 also passes through a hole on a shaft bracket 414 on the connecting frame 411; a push arm 407 is further connected to the connection back plate 413, the push arm 407 and a cylinder shaft of the angle adjusting cylinder 405 are hinged to the linkage hinge shaft 406, and when the cylinder shaft of the angle adjusting cylinder 405 stretches, the push arm 407 can be driven to push the connection back plate, so that the connection back plate rotates relatively around the rotation hinge shaft 410, and further the relative angle between the connection back plate 413 and the connection frame 411 is adjusted; after rotating by a desired angle, the fixing block 412 and the hinge shaft can be locked to fix the rotation angle.
The utility model discloses a further technical scheme lies in, has installed more than a plurality of side extrusion cylinder 4007 in the below of bottom mounting panel 4008 in the tongs first scheme, and side extrusion cylinder 4007's cylinder axle can drive the motion of side extrusion structure 4004, and side extrusion structure 4004 contains the casing, and casing internally mounted has side extrusion gyro wheel 4006, and side extrusion structure 4004 can reach the location that compresses tightly to the section bar edgewise.
Scheme II:
the automatic robot sorting system is characterized in that,
the sorting system comprises a six-axis industrial robot 3, an automatic robot sorting gripper arranged at the end part of the six-axis industrial robot, a conveying device 2, a discharging transmission platform 1 at the end part of the conveying device 2, and more than one section workpiece skip car bracket 5 arranged at two sides of the six-axis industrial robot 3; the six-axis industrial robot 3 is a multi-direction six-axis industrial robot, a photoelectric sensing head is arranged on the conveying device 2, and the position of the section bar can be acquired by the photoelectric sensing head; the sectional material trolley bracket 5 comprises a base 503 and wheels 504 below the base 503, a plurality of vertical sectional material trolley brackets 501 and transverse sectional material trolley brackets 502 are arranged on the base 503, and the plurality of vertical sectional material trolley brackets 501 and the transverse sectional material trolley brackets 502 are jointly arranged into more than one gap for placing materials;
the automatic sorting and gripping device also comprises a control part 7, wherein the control part 7 can control the six-axis industrial robot and the automatic sorting and gripping and conveying device 2 of the robot; the optical sensor head and the work sensor 408 can be communicatively connected to the control section 7;
the robot automatic sorting gripper comprises a connecting frame 411, and the connecting frame 411 can be connected with the six-axis industrial robot 3; a connecting back plate 413 is arranged on the connecting frame 411, and the connecting back plate 413 is fixedly connected with a bottom mounting plate 4008 vertical to the connecting back plate; the subsequent protocol is any one of the following:
the first scheme of the gripper comprises the following steps: a plurality of rollers 4005 are arranged on the bottom mounting plate 4008, a plurality of side pressing and positioning cylinders 403 are arranged on the connecting back plate 413, the cylinder shaft ends of the side pressing and positioning cylinders 403 comprise side pressing wheels 404, and when the profile comprises edges, the pressing wheels 404 can press the edges of the profile; the material trolley lifting device further comprises a pressing belt assembly, the pressing belt assembly comprises a pressing belt mounting plate which can move up and down along a track arranged on the connecting back plate 413, a lifting profile workpiece trolley support 4001 is arranged above the pressing belt mounting plate, the lifting profile workpiece trolley support 4001 can be driven by a cylinder arranged on the connecting back plate 413 to lift, and a belt system 4002 and a belt system power part 4003 capable of providing power for the belt system are arranged on the pressing belt mounting plate; when the pressing belt mounting plate moves downwards, the belt surface of the belt system 4002 can contact the profile 402, and when the belt system 4002 is started, the belt surface can drive the profile 402 to move left and right, and the profile 402 moves left and right and is clamped between the belt surface and the roller 4005, can be clamped and can also be moved;
the second proposal of the gripper is as follows: a plurality of fixed support rods 4103 are arranged on the bottom mounting plate 4008, a plurality of side pressing and positioning cylinders 403 are arranged on the connecting back plate 413, side pressing wheels 404 are arranged at the cylinder shaft ends of the side pressing and positioning cylinders 403, and when the profile comprises edges, the pressing wheels 404 can press the edges of the profile; and the device also comprises an extrusion cylinder 4101 arranged on the connecting back plate, an extrusion plate 4102 arranged at the end part of the cylinder shaft of the extrusion cylinder 4101, and the extrusion plate 4102 can press the section bar 402 to realize clamping when moving downwards.
The utility model has the further technical proposal that both sides of the six-axis industrial robot 3 are provided with a plurality of section material trucks 5; more than one enclosure 6 is also included on both sides of the six-axis industrial robot 3.
The utility model discloses a further technical scheme lies in, and 3 tip of six industrial robot pass through bolted connection automatic sorting tongs.
The third scheme is as follows:
method for robotic automated sorting, using an automated sorting system as described in any of the above, comprising the steps of,
when the first scheme of the gripper is adopted, the section is discharged from a machining station at the front end of the discharging workbench 1, the section is conveyed to the conveying device 2 through a roller or a belt, the six-axis industrial robot drives the sorting gripper 4 to move to the position of the conveying device 2, the sorting gripper 4 clamps the section 402 between the belt surface and the roller 4005, at the moment, the belt system is not started, then the section is clamped and conveyed to the proper position of the section trolley 5, then the belt system is started, and the section 402 is pushed to move to the corresponding position of the section trolley 5 by using the friction force of the section and the belt system;
when the second scheme of the gripper is adopted, the section is discharged from a processing station at the front end of the discharging workbench 1, the section is conveyed to the conveying device 2 through a roller or a belt, the six-axis industrial robot drives the sorting gripper 4 to move to the position of the conveying device 2, the section 402 is clamped in the fixed supporting rod 4103 and the extrusion plate 4102, then the section is clamped and conveyed to a proper position of the section trolley 5, the extrusion plate 4102 is released, and the section 402 is pushed to move to a corresponding position of the section trolley 5; realize material automatic sorting.
The utility model discloses a further technical scheme lies in, there is fixed locating place in the position of section bar skip 5, and six industrial robot of industrial robot can remember material level position on section bar work piece skip support 5 and then carry out the blowing or get the material.
Adopt above technical scheme the utility model discloses, for prior art have following beneficial effect: degree of automation is high, automatic identification material information, and control system sorts the material according to material information, six industrial robot, and degree of automation is high, uses manpower sparingly.
Drawings
For further explanation of the present invention, reference is made to the following description taken in conjunction with the accompanying drawings:
FIG. 1 is a layout diagram of the overall structure of the utility model;
FIG. 2 is a perspective view of the overall structural arrangement;
FIG. 3 is a partial schematic view of FIG. 2;
fig. 4 is a schematic structural view of a six-axis industrial robot;
FIG. 5 is a schematic view of a first version of the gripper;
FIG. 6 is a bottom view of the first version of the gripper;
FIG. 7 is a perspective view of a first version of the gripper;
FIG. 8 is a schematic view of a second version of the grip;
FIG. 9 is a perspective view of a second version of the grip;
FIG. 10 is a schematic view of another perspective of a second version of the gripper;
FIG. 11 is a perspective view of a second version of the grip;
FIG. 12 is another perspective view of a second version of the grip;
FIG. 13 is an enlarged view of a portion of the invention;
FIG. 14 is a schematic view from another perspective of the invention;
wherein: 1. a discharge conveying table; 2. a conveying device; 3. a six-axis industrial robot; 4. a gripper; 5, turning the sectional material; 6. fencing; 7. a control section; 8. an electric appliance control cabinet; 501. a vertical section workpiece skip car bracket; 502. a transverse profile workpiece skip car support; 503. a base; 504. a wheel; 301. a six-axis industrial robot base; 302. a six-axis industrial robot body; 401. a cable-by-wire centralized installation part; 402. a section bar; 403. the side edge compresses the positioning cylinder; 404. a side pressing wheel; 405. an angle adjusting cylinder; 406. a linkage hinge shaft; 407. a push arm; 408. a workpiece sensor; 409. a six-axis industrial robot connection location; 410. rotating the hinge shaft; 411. a connecting frame; 412. a fixed block; 413. connecting the back plate; 414. a pedestal; 4001. lifting the section workpiece skip car bracket; 4002. a belt system; 4003. a belt system power section; 4004. a side extrusion structure; 4005. a roller; 4006. side extrusion rollers; 4007. a side extrusion cylinder; 4008. a bottom mounting plate; 4101, extruding a cylinder; 4102. a pressing plate; 4103. fixing the support rod; 4104. a side pushing structure; 4105. the side pushes the cylinder.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings and embodiments, which are to be understood as illustrative only and not limiting the scope of the invention. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The patent provides a plurality of parallel schemes, and different expressions belong to an improved scheme based on a basic scheme or a parallel scheme. Each solution has its own unique features. Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other. The fixing means, which is not described herein, may be any one of screw fixing, bolt fixing, or glue bonding.
The first embodiment is as follows: with reference to all of the accompanying drawings;
the robot automatic sorting gripper is characterized by comprising a connecting frame 411, wherein the connecting frame 411 can be connected with a six-axis industrial robot 3; a connecting back plate 413 is arranged on the connecting frame 411, and the connecting back plate 413 is fixedly connected with a bottom mounting plate 4008 vertical to the connecting back plate; the subsequent protocol is any one of the following:
the first scheme of the gripper comprises the following steps: a plurality of rollers 4005 are arranged on the bottom mounting plate 4008, a plurality of side pressing and positioning cylinders 403 are arranged on the connecting back plate 413, the cylinder shaft ends of the side pressing and positioning cylinders 403 comprise side pressing wheels 404, and when the profile comprises edges, the pressing wheels 404 can press the edges of the profile; the material trolley lifting device further comprises a pressing belt assembly, the pressing belt assembly comprises a pressing belt mounting plate which can move up and down along a track arranged on the connecting back plate 413, a lifting profile workpiece trolley support 4001 is arranged above the pressing belt mounting plate, the lifting profile workpiece trolley support 4001 can be driven by a cylinder arranged on the connecting back plate 413 to lift, and a belt system 4002 and a belt system power part 4003 capable of providing power for the belt system are arranged on the pressing belt mounting plate; when the pressing belt mounting plate moves downwards, the belt surface of the belt system 4002 can contact the profile 402, and when the belt system 4002 is started, the belt surface can drive the profile 402 to move left and right, and the profile 402 is clamped between the belt surface and the roller 4005, can be clamped and can also be moved;
the second proposal of the gripper is as follows: a plurality of fixed support rods 4103 are arranged on the bottom mounting plate 4008, a plurality of side pressing and positioning cylinders 403 are arranged on the connecting back plate 413, side pressing wheels 404 are arranged at the cylinder shaft ends of the side pressing and positioning cylinders 403, and when the profile comprises edges, the pressing wheels 404 can press the edges of the profile; and the device also comprises an extrusion cylinder 4101 arranged on the connecting back plate, an extrusion plate 4102 arranged at the end part of the cylinder shaft of the extrusion cylinder 4101, and the extrusion plate 4102 can press the section bar 402 to realize clamping when moving downwards.
The technical scheme of the invention has the following substantial technical effects and the realization process thereof: the difference between the first and second gripper solutions is that one belt feed with blanking and one without. The solution provided by this embodiment is particularly suitable for the gripping of long objects, such as profiles. The profile can be T, Z-shaped profile with narrow edges.
Example two: as a further development or in a side-by-side or alternatively independent solution, the bottom mounting plate 4008 in the first and second solution of the hand grip is provided with a workpiece sensor 408, the workpiece sensor 408 being able to determine the position of the profile.
The technical scheme of the invention has the following substantial technical effects and the realization process: depending on the position of the profile, it can be determined whether the corresponding pressed part is activated.
Example three: as a further improvement or a parallel solution or an alternative independent solution, a side pushing cylinder 4105 is fixed on the connecting back plate 413 in the first solution and the second solution of the gripper, a cylinder shaft extending from the side pushing cylinder 4105 is connected with a side pushing structure 4104, and the side pushing structure 4104 can push the section bar out of the gripper. The technical scheme of the invention has the following substantial technical effects and the realization process: the object can be pushed down.
Example four: as a further improvement scheme or a parallel scheme or an optional independent scheme, fixing blocks 412 are arranged on two sides of a connecting back plate 413 in the first scheme and the second scheme of the hand grip, a rotating hinge shaft 410 penetrates through the two fixing blocks 412, and the rotating hinge shaft 410 also penetrates through a hole on a shaft frame 414 on a connecting frame 411; still be connected with push arm 407 on connecting backplate 413, push arm 407 and angle adjustment cylinder 405's cylinder axle articulates on linkage articulated shaft 406, and when angle adjustment cylinder 405's cylinder axle is flexible, can drive push arm 407 and promote the connection backplate, lets connect the backplate around rotating articulated shaft 410 relative rotation, and then adjusts the relative angle of connection backplate 413 and link 411. The technical scheme of the invention has the following substantial technical effects and the realization process: this embodiment can adjust the relative angle of the connection back plate 413 and the connection frame 411, and can further accommodate the deficiencies of the six-axis industrial robot 3. The six-axis industrial robot can be any one of six-axis industrial robots or robots on the market at present. The technology is certainly mature.
Example five: as a further improvement scheme or a parallel scheme or an optional independent scheme, more than one side edge extrusion cylinder 4007 is installed below a bottom installation plate 4008 in the first scheme of the gripper, a cylinder shaft of the side edge extrusion cylinder 4007 can drive a side edge extrusion structure 4004 to move, the side edge extrusion structure 4004 comprises a shell, a side edge extrusion roller 4006 is installed inside the shell, and the side edge extrusion structure 4004 can press and position the profile from the side and can be pressed. The technical scheme of the invention has the following substantial technical effects and the realization process: the workpiece such as the profile is folded from the side, so that the profile positioning effect is better.
Scheme II:
example six: as a further development or in parallel or alternatively independently, a robotic automatic sorting system, characterized in that,
the sorting system comprises six industrial robots 3, automatic robot sorting grippers arranged at the end parts of the six industrial robots, a conveying device 2, a discharge conveying table 1 at the end part of the conveying device 2, and more than one section workpiece trolley support 5 arranged at two sides of each six industrial robot 3; the six-axis industrial robot 3 is a multi-direction six-axis industrial robot, a photoelectric sensing head is arranged on the conveying device 2, and the position of the section bar can be acquired by the photoelectric sensing head; the sectional material trolley bracket 5 comprises a base 503 and wheels 504 below the base 503, a plurality of vertical sectional material trolley brackets 501 and transverse sectional material trolley brackets 502 are arranged on the base 503, and the plurality of vertical sectional material trolley brackets 501 and the transverse sectional material trolley brackets 502 are jointly arranged into more than one gap for placing materials;
the automatic sorting and gripping device also comprises a control part 7, wherein the control part 7 can control the six-axis industrial robot and the automatic sorting and gripping and conveying device 2 of the robot; the optical sensor head and the work sensor 408 can be communicatively connected to the control section 7;
the robot automatic sorting gripper comprises a connecting frame 411, and the connecting frame 411 can be connected with the six-axis industrial robot 3; a connecting back plate 413 is arranged on the connecting frame 411, and the connecting back plate 413 is fixedly connected with a bottom mounting plate 4008 vertical to the connecting back plate; the subsequent protocol is any one of the following:
the first scheme of the gripper comprises the following steps: a plurality of rollers 4005 are arranged on the bottom mounting plate 4008, a plurality of side pressing and positioning cylinders 403 are arranged on the connecting back plate 413, the cylinder shaft ends of the side pressing and positioning cylinders 403 comprise side pressing wheels 404, and when the profile comprises edges, the pressing wheels 404 can press the edges of the profile; the material trolley lifting device further comprises a pressing belt assembly, the pressing belt assembly comprises a pressing belt mounting plate which can move up and down along a track arranged on the connecting back plate 413, a lifting profile workpiece trolley support 4001 is arranged above the pressing belt mounting plate, the lifting profile workpiece trolley support 4001 can be driven by a cylinder arranged on the connecting back plate 413 to lift, and a belt system 4002 and a belt system power part 4003 capable of providing power for the belt system are arranged on the pressing belt mounting plate; when the pressing belt mounting plate moves downwards, the belt surface of the belt system 4002 can contact the profile 402, and when the belt system 4002 is started, the belt surface can drive the profile 402 to move left and right, and the profile 402 moves left and right and is clamped between the belt surface and the roller 4005, can be clamped and can also be moved;
the second proposal of the gripper is as follows: a plurality of fixed support rods 4103 are arranged on the bottom mounting plate 4008, a plurality of side pressing and positioning cylinders 403 are arranged on the connecting back plate 413, side pressing wheels 404 are arranged at the cylinder shaft ends of the side pressing and positioning cylinders 403, and when the profile comprises edges, the pressing wheels 404 can press the edges of the profile; and the device also comprises an extrusion cylinder 4101 arranged on the connecting back plate, an extrusion plate 4102 arranged at the end part of the cylinder shaft of the extrusion cylinder 4101, and the extrusion plate 4102 can press the section bar 402 to realize clamping when moving downwards.
The technical scheme of the invention has the following substantial technical effects and the realization process: method for robotic automated sorting, using an automated sorting system as described in any of the above, comprising the steps of,
when the first scheme of the gripper is adopted, the robot automatically sorts the gripper and the six-axis industrial robot 3 moves to the position of the section material trolley 5, the section material 402 is clamped between the belt surface and the roller 4005, the belt system is not started at the moment, and then the section material is clamped on the conveying device 2 and conveyed to the discharging conveying table 1; the belt system is then activated, pushing the profile 402 to move onto the conveyor 2, using the friction of the profile and the belt system;
when the second scheme of the gripper is adopted, the robot automatically sorts the gripper and the six-axis industrial robot 3 moves to the position of the section workpiece skip car bracket 5, the section 402 is clamped in the fixed supporting rod 4103 and the extrusion plate 4102, and then the section is clamped on the conveying device 2 and conveyed to the discharging conveying table 1; the extrusion plate 4102 is loosened, the state of the six-axis industrial robot is properly adjusted, and automatic feeding and sorting are realized.
Example seven: as a further development or in parallel or alternatively independently, a plurality of profile work piece trolley supports 5 are included on both sides of the six-axis industrial robot 3; more than one enclosure 6 is also included on both sides of the six-axis industrial robot 3.
Example eight: as a further development or a parallel or alternatively independent solution, the six-axis industrial robot 3 is connected at its end to the robot automated sorting gripper by means of bolts. The position of the section bar workpiece skip car support 5 is limited by the baffle 6 or the section bar workpiece skip car support has a fixed placing position, and the six-axis industrial robot can memorize the material loading position of the section bar workpiece skip car support 5 so as to discharge materials or take materials.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, all of which are intended to be covered by the appended claims.
Claims (8)
1. Automatic sorting tongs of robot, its characterized in that: the gripper comprises a connecting frame (411), wherein the connecting frame (411) can be connected with a six-axis industrial robot (3); a connecting back plate (413) is arranged on the connecting frame (411), and the connecting back plate (413) is fixedly connected with a bottom mounting plate (4008) vertical to the connecting back plate; the subsequent protocol is any one of the following:
the first scheme of the gripper comprises the following steps: a plurality of rollers (4005) are arranged on the bottom mounting plate (4008), a plurality of side pressing and positioning cylinders (403) are arranged on the connecting back plate (413), side pressing wheels (404) are arranged at the ends of cylinder shafts of the side pressing and positioning cylinders (403), and when the profile comprises edges, the pressing wheels (404) can press the edges of the profile; the material conveying device is characterized by further comprising a pressing belt assembly, the pressing belt assembly comprises a pressing belt mounting plate which can move up and down along a track arranged on the connecting back plate (413), a lifting profile workpiece trolley support (4001) is arranged above the pressing belt mounting plate, the lifting profile workpiece trolley support (4001) can be driven by a cylinder arranged on the connecting back plate (413) to lift, and a belt system (4002) and a belt system power part (4003) capable of providing power for the belt system are arranged on the pressing belt mounting plate; when the pressing belt mounting plate moves downwards, the belt surface of the belt system (4002) can contact the profile (402), and when the belt system (4002) is started, the belt surface can drive the profile (402) to move left and right, and the profile (402) is clamped between the belt surface and the roller (4005), can be clamped and can also be moved;
the second proposal of the gripper is as follows: a plurality of fixed supporting rods (4103) are arranged on the bottom mounting plate (4008), a plurality of side pressing and positioning cylinders (403) are arranged on the connecting back plate (413), side pressing wheels (404) are arranged at the ends of cylinder shafts of the side pressing and positioning cylinders (403), and when the section bar comprises the side, the pressing wheels (404) can press the side of the section bar; the extrusion pressing device further comprises an extrusion cylinder (4101) arranged on the connecting back plate, and an extrusion plate (4102) arranged at the end part of a cylinder shaft of the extrusion cylinder (4101), wherein the extrusion plate (4102) can press the profile (402) to realize clamping when moving downwards.
2. The robotic automatic sorting gripper according to claim 1, wherein the bottom mounting plate (4008) in the first and second gripper solutions is provided with a workpiece sensor (408), the workpiece sensor (408) being capable of determining the position of the profile.
3. The robotic automatic sorting gripper of claim 1, wherein a side pushing cylinder (4105) is fixed to the connection back plate (413) in the first and second gripper versions, and a cylinder shaft extending from the side pushing cylinder (4105) is connected to the side pushing structure (4104), and the side pushing structure (4104) is capable of pushing the profile out of the gripper.
4. The robotic automatic sorting gripper of claim 1, wherein the connection back plate (413) of the first and second gripper solutions comprises fixing blocks (412) on both sides, a rotation hinge shaft (410) passes through the two fixing blocks (412), and the rotation hinge shaft (410) also passes through a hole on the shaft bracket (414) of the connection bracket (411); a push arm (407) is further connected to the connection back plate (413), the push arm (407) and a cylinder shaft of the angle adjusting cylinder (405) are hinged to the linkage hinge shaft (406), and when the cylinder shaft of the angle adjusting cylinder (405) stretches, the push arm (407) can be driven to push the connection back plate, so that the connection back plate rotates relatively around the rotation hinge shaft (410), and further the relative angle between the connection back plate (413) and the connection frame (411) is adjusted; after rotating the required angle, the fixed block (412) and the hinge shaft can be locked to fix the rotating angle.
5. The robotic automated sorting gripper of claim 1, wherein there are more than one side extrusion cylinders (4007) mounted below the bottom mounting plate (4008) in the first aspect of the gripper, the cylinder shaft of the side extrusion cylinder (4007) can drive the side extrusion structure (4004) to move, the side extrusion structure (4004) comprises a housing, a side extrusion roller (4006) is mounted inside the housing, and the side extrusion structure (4004) can press and position the profile from the side and the side.
6. The automatic robot sorting system is characterized in that,
the sorting system comprises six industrial robots (3), automatic robot sorting grippers arranged at the ends of the six industrial robots, a conveying device (2), a discharging transmission table (1) at the end of the conveying device (2), and more than one section workpiece skip car bracket (5) arranged on two sides of each six industrial robot (3); the six-axis industrial robot (3) is a multi-direction six-axis industrial robot, a photoelectric sensing head is arranged on the conveying device (2), and the photoelectric sensing head can acquire the position of the section bar; the section material trolley bracket (5) comprises a base (503) and wheels (504) below the base (503), a plurality of vertical section material trolley brackets (501) and transverse section material trolley brackets (502) are arranged on the base (503), and the plurality of vertical section material trolley brackets (501) and the transverse section material trolley brackets (502) are jointly arranged into more than one gap for placing materials;
the six-axis industrial robot manipulator further comprises a control part (7), wherein the control part (7) can control the six-axis industrial robot, the robot automatic sorting gripper and the conveying device (2); the optical sensing head and the workpiece sensor (408) can be connected with the control part (7) in a communication way;
the robot automatic sorting gripper comprises a connecting frame (411), and the connecting frame (411) can be connected with a six-axis industrial robot (3); a connecting back plate (413) is arranged on the connecting frame (411), and the connecting back plate (413) is fixedly connected with a bottom mounting plate (4008) vertical to the connecting back plate; the subsequent protocol is any one of the following:
the first scheme of the gripper comprises the following steps: a plurality of rollers (4005) are arranged on the bottom mounting plate (4008), a plurality of side pressing and positioning cylinders (403) are arranged on the connecting back plate (413), side pressing wheels (404) are arranged at the ends of cylinder shafts of the side pressing and positioning cylinders (403), and when the profile comprises edges, the pressing wheels (404) can press the edges of the profile; the material conveying device is characterized by further comprising a pressing belt assembly, the pressing belt assembly comprises a pressing belt mounting plate which can move up and down along a track arranged on the connecting back plate (413), a lifting profile workpiece trolley support (4001) is arranged above the pressing belt mounting plate, the lifting profile workpiece trolley support (4001) can be driven by a cylinder arranged on the connecting back plate (413) to lift, and a belt system (4002) and a belt system power part (4003) capable of providing power for the belt system are arranged on the pressing belt mounting plate; when the pressing belt mounting plate moves downwards, the belt surface of the belt system (4002) can contact the profile (402), and when the belt system (4002) is started, the belt surface can drive the profile (402) to move left and right, and the profile (402) moves left and right and is clamped between the belt surface and the roller (4005) and can also be clamped and moved;
the second proposal of the gripper is as follows: a plurality of fixed supporting rods (4103) are arranged on the bottom mounting plate (4008), a plurality of side pressing and positioning cylinders (403) are arranged on the connecting back plate (413), side pressing wheels (404) are arranged at the ends of cylinder shafts of the side pressing and positioning cylinders (403), and when the section bar comprises the side, the pressing wheels (404) can press the side of the section bar; the extrusion pressing device further comprises an extrusion cylinder (4101) arranged on the connecting back plate, and an extrusion plate (4102) arranged at the end part of a cylinder shaft of the extrusion cylinder (4101), wherein the extrusion plate (4102) can press the profile (402) to realize clamping when moving downwards.
7. The robotic automatic sorting system according to claim 6, characterized in that a plurality of section bar work piece trolley carriages (5) are included on both sides of the six-axis industrial robot (3); a plurality of fenders (6) are also arranged on two sides of the six-axis industrial robot (3).
8. The robotic automated sorting system according to claim 6, wherein the six-axis industrial robot (3) end is bolted to the robotic automated sorting gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121586716.6U CN215202040U (en) | 2021-07-13 | 2021-07-13 | Robot automatic sorting system and tongs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121586716.6U CN215202040U (en) | 2021-07-13 | 2021-07-13 | Robot automatic sorting system and tongs |
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| CN215202040U true CN215202040U (en) | 2021-12-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113334415A (en) * | 2021-07-13 | 2021-09-03 | 斯图尔茨机器(济南)有限公司 | Robot automatic sorting system and method and gripper |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113334415A (en) * | 2021-07-13 | 2021-09-03 | 斯图尔茨机器(济南)有限公司 | Robot automatic sorting system and method and gripper |
| CN113334415B (en) * | 2021-07-13 | 2024-08-06 | 斯图尔茨机器(济南)有限公司 | Robot automatic sorting system and method and gripper |
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